06-09-2017, 10:21 AM
The wheelchair can accurately determine its position and direction using internal sensors and external environmental assistance, including the Global Positioning System (GPS) and Radio Frequency Identification (RFID). You can also spot obstacles you encounter on the road using a laser range sensor. To confirm the effectiveness of our research results, for six months at the Aichi Expo 2005 demonstrated the wheelchair system offering test rides to visitors. This document describes the total TAO Aide system, the positioning method using GPS and RFID, and the autonomous displacement control based on precise position and direction estimates using Kalman filtering.